Arming Checks

A suite of pre-arming safety checks occur when you command the aircraft to takeoff. Pre-arm checks are intended to prevent the aircraft from enabling its propulsion system if any issues are discovered. Reasons for failing to arm can include missed or bad calibrations, faulty sensor data, configurations issues, logging problems, etc. You will notice a pre-arm check failure because you will be unable to arm the aircraft and takeoff. Pre-arm errors are displayed in the GCS message panel but only after an arming attempt.

Contents

Pre-Arm Errors

No SD card

Autopilot SD card not installed.

Install SD card and reboot.

Compass inconsistent

Magnetic field unfamiliar due to hardware or location change.

Calibrate compasses and reboot.

Compass calibration running

Compass calibration in progress.

Wait or cancel calibration. Reboot.

Compass not calibrated

Compass has never been calibrated.

Calibrate compasses and reboot.

Compass calibrated requires reboot

Aircraft was not rebooted after calibrating compasses.

Reboot.

Compass not healthy

Compass not communicating or EKF thinks compass is inconsistent.

Reboot. If persistent, contact support.

Compass offsets too high

Calibrated in location with strong magnetic field or payload interference.

Re-calibrate

Compass mag field

Magnetic field too high or low.

Check for environmental or payload interference.

Compass XY

Horizontal magnetic field does not match Earth model.

Check for environmental or payload interference.

Compass Z

Vertical magnetic field does not match Earth model.

Check for environmental or payload interference.

Compass not found

Compass disconnected or broken.

Replace or contact support.

Compass order change requires reboot

Aircraft was not rebooted after changing compass order.

Reboot.

Hand controller not neutral

Sticks were moved or deflected while arming, adjusted trims, bad gimbals.

Center sticks and lower throttle before arming.

Throttle is not neutral

Throttle stick was moved or deflected while arming, adjusted trims, bad gimbals.

Lower throttle before arming.

Logging failed

Autopilot cannot write to SD card.

Reboot. If persistent, reformat SD card (FAT32).

Gyros not calibrated

Gyros not calibrated.

Calibrate gyros.

Gyros inconsistent

One or more of the gyros do not agree with the others due to failing sensor, thermal drift, or bad calibration.

Wait for autopilot warmup and retry. Perform gyro calibration. If persistent, contact support to replace autopilot.

3D Accel calibration needed

Accelerometers not calibrated.

Calibrate Accelerometers.

Accels inconsistent

One or more of the accels do not agree with the others due to failing, thermal drift, or bad calibration.

Wait for autopilot warmup and retry. Calibrate accelerometers. If persistent, contact support to replace autopilot.

Accels not healthy

One or more of the accels is not communicated or reported as a failure.

Reboot. If persistent, contact support to replace autopilot.

Accels calibrated requires reboot.

Aircraft was not rebooted after calibrating accelerometers.

Reboot.

Airspeed not healthy

Airspeed sensor not providing a reading or failed to calibrate.

Reboot. If persistent, contact support.

GPS 1 failing configuration checks

Autopilot unable to configure GPS receiver.

Additional messages explaining what is wrong with the GPS will accompany this prearm check. This is typically related to the GPS SD card.

GPS bad fix

GPS does not have 3D fix.

Wait and retry.

GPS not healthy

GPS is not communicating, not communicating fast enough, or flagged as invalid.

Reboot. If persistent, contact support.

GPS and AHRS differ

Estimated aircraft position and AHRS estimate vary greatly possibly due to interference.

Reboot. If persistent, contact support.

GPS was not found

GPS disconnected or broken.

Replace or contact support.

GPS SBF disk is not mounted

No GPS SD card or unable to write.

Retry. Check that SD is installed and has storage space.

GPS attempting to mount disk

GPS log file not mounted or in the process of doing so.

Wait and retry.

GPS disk is full

GPS SD card is full.

Clear GPS logs.

GPS SBF not logging

GPS log file not mounted.

Wait and retry.

Hardware safety switch

Control surfaces were not enabled.

Enable control surfaces.

Missing mission item: vtol land

No landing was planned or uploaded.

Plan and/or upload a landing.

Missing mission item: do land start

A DO_LAND_START must have been planned in the mission for failsafes to function.

Plan and/or upload a landing.

Missing mission item: vtol takeoff

No takeoff was planned or uploaded.

Plan and/or upload a takeoff.

No sufficiently close rally point located

No rally point was planned.

Plan and/or upload a rally point.

Internal errors

Autopilot encountered unexpected internal error.

Reboot. If persistent, contact support.

Battery 1 below minimum arming voltage

Battery below required voltage to arm.

Swap battery.

Battery 2 below minimum arming voltage

Battery below required voltage to arm.

Swap battery.

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